EP4131709A1 - Kollaboratives ladeverfahren und vorrichtung sowie logistikvorrichtungen - Google Patents

Kollaboratives ladeverfahren und vorrichtung sowie logistikvorrichtungen Download PDF

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Publication number
EP4131709A1
EP4131709A1 EP21784028.9A EP21784028A EP4131709A1 EP 4131709 A1 EP4131709 A1 EP 4131709A1 EP 21784028 A EP21784028 A EP 21784028A EP 4131709 A1 EP4131709 A1 EP 4131709A1
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EP
European Patent Office
Prior art keywords
logistics device
charging
logistics
target
time
Prior art date
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Pending
Application number
EP21784028.9A
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English (en)
French (fr)
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EP4131709A4 (de
Inventor
Xuepeng BIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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Publication of EP4131709A1 publication Critical patent/EP4131709A1/de
Publication of EP4131709A4 publication Critical patent/EP4131709A4/de
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/28—Arrangements for balancing of the load in networks by storage of energy
    • H02J3/32—Arrangements for balancing of the load in networks by storage of energy using batteries or super capacitors with converting means
    • H02J3/322—Arrangements for balancing of the load in networks by storage of energy using batteries or super capacitors with converting means the battery being on-board an electric or hybrid vehicle, e.g. vehicle to grid arrangements [V2G], power aggregation, use of the battery for network load balancing, coordinated or cooperative battery charging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H02J7/1446—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in response to parameters of a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/57—Charging stations without connection to power networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3438—Rendezvous; Ride sharing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/697—Coordinated control of the position or course of two or more vehicles for rendezvous of two or more vehicles, e.g. for in-flight refuelling
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
    • H02J7/342—The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/80—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including monitoring or indicating arrangements
    • H02J7/82—Control of state of charge [SOC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B64U50/38—Charging when not in flight by wireless transmission
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/45—Specific applications of the controlled vehicles for manufacturing, maintenance or repairing
    • G05D2105/47—Specific applications of the controlled vehicles for manufacturing, maintenance or repairing for maintenance or repairing, e.g. fuelling or battery replacement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2105/00—Networks for supplying or distributing electric power characterised by their spatial reach or by the load
    • H02J2105/30—Networks for supplying or distributing electric power characterised by their spatial reach or by the load the load networks being external to vehicles, i.e. exchanging power with vehicles
    • H02J2105/33—Networks for supplying or distributing electric power characterised by their spatial reach or by the load the load networks being external to vehicles, i.e. exchanging power with vehicles exchanging power with road vehicles
    • H02J2105/37—Networks for supplying or distributing electric power characterised by their spatial reach or by the load the load networks being external to vehicles, i.e. exchanging power with vehicles exchanging power with road vehicles exchanging power with electric vehicles [EV] or with hybrid electric vehicles [HEV]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/50—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries acting upon multiple batteries simultaneously or sequentially
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/90—Regulation of charging or discharging current or voltage
    • H02J7/971—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the disclosure relates to the technical field of logistics, and in particular relates to a collaborative charging method, apparatus, and logistics device.
  • a logistics device used for logistics delivery generally uses a DC power supply as an energy source.
  • the logistics device is required to return to a charging station for charging.
  • Such charging method has low charging efficiency and is prone to cause energy waste.
  • the embodiment of the disclosure provides a collaborative charging method, apparatus, and logistics device, which can avoid problems such as low charging efficiency and energy waste caused by necessity of returning to a charging station for charging.
  • a collaborative charging method comprising:
  • the preset charging condition comprises: the remaining battery power of the first logistics device being less than battery power required by the first logistics device to arrive at a charging station; or a time difference between a delivery time and a scheduled delivery time of a next delivery site being less than or equal to a time difference threshold, the delivery time referring to a time when the first logistics device arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • determining a target second logistics device for charging the first logistics device comprises:
  • the method further comprises: selecting, in accordance with a parking position and an arrival time to the parking position of the first logistics device, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices; and controlling the target second logistics device to move to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position so as to meet the first logistics device.
  • the method before controlling the target second logistics device to move to the parking position so as to meet the first logistics device, the method further comprises: planning a path for the target second logistics device in accordance with the parking position to determine a path trajectory; and controlling the target second logistics device to move to the parking position so as to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position along the path trajectory so as to meet the first logistics device.
  • the method before judging whether remaining battery power of a first logistics device satisfies a preset charging condition, the method further comprises: confirming receipt of a charging request from the first logistics device; wherein the charging request is transmitted when a battery life of the first logistics device is less than a remaining driving time duration of the first logistics device; the remaining driving time duration of the first logistics device refers to a time duration required by the first logistics device to arrive at a next delivery site.
  • contactless charging is adopted between the first logistics device and the target second logistics device.
  • the first logistics device and/or the target second logistics device is: an unmanned vehicle or drone for logistics delivery.
  • a collaborative charging apparatus comprising:
  • the preset charging condition comprises: the remaining battery power of the first logistics device being less than battery power required by the first logistics device to arrive at a charging station; or a time difference between a delivery time and a scheduled delivery time of a next delivery site being less than or equal to a time difference threshold, the delivery time referring to a time when the first logistics device arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • the determining module determining a target second logistics device for charging the first logistics device comprises:
  • the determining module is further used for: before determining a waiting time required by each second logistics device in a plurality of candidate second logistics devices to meet the first logistics device and a charging time required thereby for charging the first logistics device, selecting, in accordance with a parking position and an arrival time to the parking position of the first logistics device, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices; and the charging module controlling the target second logistics device to move to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position so as to meet the first logistics device.
  • the charging module is further used for: before controlling the target second logistics device to move to the parking position so as to meet the first logistics device, planning a path for the target second logistics device in accordance with the parking position to determine a path trajectory; and the charging module controlling the target second logistics device to move to the parking position so as to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position along the path trajectory so as to meet the first logistics device.
  • the judging module is further used for: before judging whether remaining battery power of a first logistics device satisfies a preset charging condition, confirming receipt of a charging request from the first logistics device; wherein the charging request is made when a battery life of the first logistics device is less than a remaining driving time duration of the first logistics device; the remaining driving time duration of the first logistics device refers to a time duration required by the first logistics device to arrive at a next delivery site.
  • contactless charging is adopted between the first logistics device and the target second logistics device.
  • the first logistics device and/or the target second logistics device is: an unmanned vehicle or drone for logistics delivery.
  • a collaborative charging logistics device comprising:
  • the preset charging condition comprises: the remaining battery power of the task execution body is less than battery power required by the task execution body to arrive at a charging station; or a time difference between a delivery time and a scheduled delivery time of a next delivery site is less than or equal to a time difference threshold, the delivery time referring to a time when the task execution body arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • the target second logistics device is determined by the following steps: determining a waiting time required by each second logistics device in a plurality of candidate second logistics devices to meet the task execution body and a charging time required thereby for charging the task execution body;
  • the candidate second logistics devices are determined by the following step: selecting, in accordance with a parking position and an arrival time to the parking position of the task execution body, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices; and the collaborative charging apparatus controls the target second logistics device to move to the parking position so as to meet the task execution body.
  • the collaborative charging apparatus before controlling the target second logistics device to move to the parking position so as to meet the task execution body after receiving the charging request, plans a path for the target second logistics device in accordance with the parking position to determine a path trajectory; and the collaborative charging apparatus controls the target second logistics device to move to the parking position along the path trajectory so as to meet the task execution body.
  • contactless charging is adopted between the task execution body and the target second logistics device.
  • the first logistics device and/or the target second logistics device is: an unmanned vehicle or drone for logistics delivery.
  • a collaborative charging electronic device comprising:
  • a computer-readable medium on which a computer program is stored, is provided, wherein the program, when executed by a processor, implements the method provided by the first aspect of the embodiment of the disclosure.
  • collaborative charging between respective logistics devices can avoid problems such as low charging efficiency and energy waste caused by necessity of returning to a charging station for charging.
  • a collaborative charging method is provided.
  • FIG. 1 is a schematic diagram of a main flow of a collaborative charging method according to an embodiment of the disclosure. As shown in FIG. 1 , the collaborative charging method comprises: step S101, step S102 and step S103.
  • step S101 it is judged whether remaining battery power of a first logistics device satisfies a preset charging condition. If so, step S102 is jumped to; otherwise, the process ends.
  • the first logistics device refers to a logistics device for executing a logistics delivery task.
  • the logistics device may be an unmanned vehicle or drone for logistics delivery, or a manned train or plane and so on.
  • the preset charging condition refers to a condition that a logistics device required to be charged should satisfy.
  • the specific content of the preset charging condition may be selectively set according to actual circumstances.
  • the preset charging condition comprises: the remaining battery power of the first logistics device being less than battery power required by the first logistics device to arrive at a charging station.
  • the charging station mentioned in the preset charging condition herein refers to the charging station with the smallest distance from the first logistics device. In this way, when it is determined that the remaining battery power of the first logistics device is insufficient to arrive at the charging station for charging, other logistics devices can be used to charge the first logistics device in time.
  • the preset charging condition comprises: a time difference between a delivery time and a scheduled delivery time of a next delivery site being less than or equal to a time difference threshold.
  • the delivery time in this example refers to a time when the first logistics device arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • the next delivery site refers to a delivery site that the first logistics device should arrive at next.
  • the charging station mentioned in the preset charging condition herein refers to the charging station with the smallest distance from the first logistics device.
  • the specific value of the time difference threshold may be selectively setup according to actual circumstances.
  • the time difference threshold is a positive value, it indicates that the time when the first logistics device actually arrives at the next delivery site may be later than the scheduled delivery time of the next delivery site, i.e., delivery may be delayed.
  • the time difference threshold is a negative value, it indicates that the time when the first logistics device actually arrives at the next delivery site should be earlier than the scheduled delivery time of the next delivery site, i.e., delivery should be performed in advance.
  • the time difference threshold is zero, it indicates that the time when the first logistics device actually arrives at the next delivery site may not be later than the scheduled delivery time of the next delivery site, i.e., delivery may be performed on time or in advance, and may not be delayed.
  • Using other logistics devices to charge the first logistics device when the time difference between the delivery time and the scheduled delivery time of the next delivery site is less than or equal to the time difference threshold can avoid the occurrence of the circumstance where the delivery time is comparatively late caused by the first logistics device arriving at the charging station for charging by itself and then performing delivery.
  • the charging request is transmitted when a battery life of the first logistics device is less than a remaining driving time duration of the first logistics device.
  • the remaining driving time duration of the first logistics device refers to a time duration required by the first logistics device to arrive at a next delivery site.
  • the battery life mentioned herein refers to the maximum time duration, during which the logistics device can work with the remaining battery power of the logistics device.
  • the calculation amount of the collaborative charging method in the embodiment of the disclosure can be greatly simplified, and the processing speed of the method can be improved.
  • Making the logistics device transmit a charging request when the battery life is less than the remaining driving time duration can charge the logistics device in time when the battery power of the logistics device is low.
  • step S 102 a target second logistics device for charging the first logistics device is determined.
  • step S103 the target second logistics device is controlled to move to meet the first logistics device so as to charge the first logistics device.
  • the first logistics device and a second logistics device both refer to logistics devices for executing a logistics delivery task.
  • the words "first” and “second” are used for distinguishing different logistics devices.
  • the logistics device may be an unmanned vehicle or drone for logistics delivery, or a manned train or plane and so on.
  • the manner for determining the target second logistics device for charging the first logistics device may be selectively setup according to actual circumstances. For example, one second logistics device is randomly selected from the respective second logistics devices to serve as the target second logistics device, or the second logistics device with the most remaining battery power is selected from the respective second logistics devices to serve as the target second logistics device, or one second logistics device in idle state is selected from the respective second logistics devices to serve as the target second logistics device.
  • determining the target second logistics device for charging the first logistics device comprises: determining a waiting time required by each second logistics device in a plurality of candidate second logistics devices to meet the first logistics device and a charging time required thereby for charging the first logistics device; determining, in accordance with the waiting time and charging time corresponding to each candidate second logistics device, a total charging time corresponding to the candidate second logistics device; and using the candidate second logistics device with the shortest total charging time as the target second logistics device for charging the first logistics device.
  • Using the candidate second logistics device with the shortest total charging time as the target second logistics device can increase the charging speed of the first logistics device, so that the first logistics device enters the working state as soon as possible after it is fully charged so as to avoid impacts on subsequent delivery tasks due to charging.
  • the manner for determining the candidate second logistics devices may be selectively setup according to actual circumstances. For example, one or more second logistics devices are randomly selected from the respective second logistics devices to serve as the candidate second logistics devices, or a plurality of second logistics devices with more remaining battery power are selected from the respective second logistics devices to serve as the candidate second logistics devices, or a plurality of second logistics devices in idle state are selected from the respective second logistics devices to serve as the candidate second logistics device.
  • the candidate second logistics devices are determined by the following step: selecting, in accordance with a parking position and an arrival time to the parking position of the first logistics device, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices.
  • the parking position, or the parking position and arrival time mentioned herein may be generated by the first logistics device, or may be obtained by calculation after acquiring relevant information of the first logistics device.
  • controlling the target second logistics device to move to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position so as to meet the first logistics device.
  • Selecting the candidate second logistics devices in accordance with the parking position and arrival time can improve availability of the selected candidate second logistics devices.
  • the second logistics device may determine a path trajectory to meet the first logistics device by itself.
  • the method further comprises: planning a path for the target second logistics device in accordance with the parking position to determine a path trajectory.
  • Controlling the target second logistics device to move to the parking position so as to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position along the path trajectory so as to meet the first logistics device.
  • the manner for determining the path trajectory may be selectively set according to actual circumstances. Determining the path trajectory of the target second logistics device facilitates management of movement trajectories of the respective logistics devices and knowing of real-time positions of the respective logistics devices.
  • the charging manner between the first logistics device and the second logistics device may be selectively setup according to actual circumstances. For example, contactless charging (e.g., electromagnetic induction charging) is adopted or contact charging (e.g., charging with a charging plug) is adopted.
  • contactless charging e.g., electromagnetic induction charging
  • contact charging e.g., charging with a charging plug
  • the collaborative charging method is exemplarily described below by taking it as an example that the first logistics device is an unmanned vehicle for logistics delivery.
  • the unmanned vehicle actually delivers goods, there will be a time window period waiting for users to pick up the goods, during which period the vehicle is in a stationary state, and if the vehicle has sufficient battery power, it may deliver battery power to other surrounding logistics devices with low battery power.
  • the other surrounding logistics devices may be used to charge the unmanned vehicle.
  • the unmanned vehicle checks at a certain frequency whether its remaining battery power is sufficient to support the unmanned vehicle/drone to arrive at the next site smoothly to complete the delivery task.
  • the specific checking method is to estimate the battery life t1 at the current power consumption speed and the time duration t2 required by the unmanned vehicle to arrive at the next delivery site, and if a value of t1 is less than a value of t2, a low battery power warning mechanism is triggered to make a charging request to the cloud (cloud network).
  • the charging request includes the parking position and the arrival time to the parking position of the unmanned vehicle.
  • the cloud After receiving the charging request, the cloud makes the following decisions: In the first step, it is judged whether the remaining battery power of the unmanned vehicle is sufficient to support it to return to a nearby charging station by itself, i.e., it is judged whether the remaining battery power of the unmanned vehicle is greater than or equal to the battery power required by the unmanned vehicle to arrive at the charging station. If the battery power is sufficient for the unmanned vehicle to return to the charging station, it is further judged whether a serious delay in the delivery of the goods will be caused (the serious delay may be defined as performing the delivery later than the scheduled time by a certain time), i.e., it is judged whether the time difference between the delivery time and the scheduled delivery time of the next delivery site is less than or equal to the time difference threshold.
  • the serious delay may be defined as performing the delivery later than the scheduled time by a certain time
  • the second step is triggered, otherwise the unmanned vehicle or drone will be required to turn back directly to the nearby charging station for charging.
  • the cloud acquires the parking position and arrival time of the unmanned vehicle, creates an id (identification) list of unmanned vehicles or drones with sufficient battery power that are not far from the unmanned vehicle within a certain time and space range, and plans the time and space position of each unmanned vehicle or drone in the list when it approaches the unmanned vehicle or drone with the low battery power (specific planning may use a genetic algorithm to solve a traveling salesman problem, and no unnecessary details are given herein).
  • the unmanned vehicle or drone that makes (waiting time + charging time) be the shortest, and makes the unmanned vehicle or drone to be discharged have the smallest delay in its own delivery task is selected to execute the discharging task. Subsequently, the information such as the position and time, etc. where and when the unmanned vehicle to be charged meets the unmanned vehicle or drone to be discharged is transmitted to the corresponding unmanned vehicle or drone, and a movement route is planned therefor.
  • the charging and discharging unmanned vehicles or drones start continuing to execute corresponding logistics delivery tasks, respectively.
  • the collaborative charging method according to the embodiment of the disclosure can achieve timely and flexible adjustment of charging and discharging of the respective logistics devices, and collaborative charging between respective logistics devices can avoid problems such as low charging efficiency and energy waste caused by necessity of returning to a charging station for charging.
  • an apparatus for implementing the aforesaid method is provided.
  • FIG. 2 is a schematic diagram of main modules of a collaborative charging apparatus according to an embodiment of the disclosure. As shown in FIG. 2 , the collaborative charging apparatus 200 comprises:
  • the preset charging condition comprises: the remaining battery power of the first logistics device being less than battery power required by the first logistics device to arrive at a charging station; or a time difference between a delivery time and a scheduled delivery time of a next delivery site being less than or equal to a time difference threshold, the delivery time referring to a time when the first logistics device arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • the determining module determining a target second logistics device for charging the first logistics device comprises:
  • the determining module is further used for: before determining a waiting time required by each second logistics device in a plurality of candidate second logistics devices to meet the first logistics device and a charging time required thereby for charging the first logistics device, selecting, in accordance with a parking position and an arrival time to the parking position of the first logistics device, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices; and the charging module controlling the target second logistics device to move to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position so as to meet the first logistics device.
  • the charging module is further used for: before controlling the target second logistics device to move to the parking position so as to meet the first logistics device, planning a path for the target second logistics device in accordance with the parking position to determine a path trajectory; and the charging module controlling the target second logistics device to move to the parking position so as to meet the first logistics device comprises: controlling the target second logistics device to move to the parking position along the path trajectory so as to meet the first logistics device.
  • the judging module is further used for: before judging whether remaining battery power of a first logistics device satisfies a preset charging condition, confirming receipt of a charging request from the first logistics device; wherein the charging request is transmitted when a battery life of the first logistics device is less than a remaining driving time duration of the first logistics device; the remaining driving time duration of the first logistics device refers to a time duration required by the first logistics device to arrive at a next delivery site.
  • contactless charging is adopted between the first logistics device and the target second logistics device.
  • the first logistics device and/or the target second logistics device is: an unmanned vehicle or drone for logistics delivery.
  • a collaborative charging logistics device is provided.
  • FIG. 3 is a schematic diagram of main modules of a collaborative charging logistics device according to an embodiment of the disclosure.
  • the collaborative charging logistics device 300 comprises:
  • the preset charging condition comprises: the remaining battery power of the task execution body is less than battery power required by the task execution body to arrive at a charging station; or a time difference between a delivery time and a scheduled delivery time of a next delivery site is less than or equal to a time difference threshold, the delivery time referring to a time when the task execution body arrives at the next delivery site after it arrives at the charging station for charging and after it is fully charged.
  • the target second logistics device is determined by the following steps: determining a waiting time required by each second logistics device in a plurality of candidate second logistics devices to meet the task execution body and a charging time required thereby for charging the task execution body;
  • the candidate second logistics devices are determined by the following step: selecting, in accordance with a parking position and an arrival time to the parking position of the task execution body, the second logistics devices whose distances from the parking position at the arrival time are less than or equal to a distance threshold from all the second logistics devices as the candidate second logistics devices; and the collaborative charging apparatus controls the target second logistics device to move to the parking position so as to meet the task execution body.
  • the collaborative charging apparatus before controlling the target second logistics device to move to the parking position so as to meet the task execution body after receiving the charging request, plans a path for the target second logistics device in accordance with the parking position to determine a path trajectory; and the collaborative charging apparatus controls the target second logistics device to move to the parking position along the path trajectory so as to meet the task execution body.
  • contactless charging is adopted between the task execution body and the target second logistics device.
  • the first logistics device and/or the target second logistics device is: an unmanned vehicle or drone for logistics delivery.
  • a collaborative charging electronic device comprising:
  • a computer-readable medium on which a computer program is stored, is provided, wherein the program, when executed by a processor, implements the method provided by the first aspect of the embodiment of the disclosure.
  • FIG. 4 shows an exemplary system architecture 400 to which a collaborative charging method or a collaborative charging apparatus according to an embodiment of the disclosure can be applied.
  • the system architecture 400 may comprise logistics devices 401, 402, 403, a network 404, and a server 405.
  • the network 404 is a medium for providing a communication link between the logistics devices 401, 402, 403 and the server 405.
  • the network 404 may include various connection types, such as wired or wireless communication links, or fiber-optic cables.
  • the user may use the logistics devices 401, 402, 403 to interact with the server 405 through the network 404 to receive or transmit messages and so on.
  • Various communication client applications such as map navigation applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, and so on (only examples), may be installed on the logistics devices 401, 402, 403.
  • the logistics devices 401, 402, 403 may be various electronic devices having screens and supporting web browsing, including but not limited to motor vans, vans, unmanned vehicles, unmanned or manned planes, and so on.
  • the server 405 may be a server that provides various services, such as a background management server that provides support for map navigation applications browsed by the user using the logistics devices 401, 402, 403 (only an example).
  • the background management server may process, for example, analyze the received charging request transmitted by the logistics device to be charged and other data, and feed the processing results (such as the target second logistics device--only an example) back to the terminal devices.
  • the collaborative charging method provided by the embodiment of the disclosure is generally performed by the server 405, and correspondingly, the collaborative charging apparatus is generally provided in the server 405.
  • terminal devices the numbers of the terminal devices, the networks, and the servers in FIG. 4 are merely schematic. According to implementation requirements, there may be any numbers of terminal devices, networks, and servers.
  • FIG. 5 shows a schematic diagram of a structure of a computer system 500 suitable for implementing a terminal device according to an embodiment of the disclosure.
  • the terminal device shown in FIG. 5 is only an example, and shall not impose any limitation on the functions and the scope of use of the embodiment of the disclosure.
  • the computer system 500 includes a central processing unit (CPU) 501, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage portion 508 into a random access memory (RAM) 503.
  • ROM read-only memory
  • RAM random access memory
  • Various programs and data required for the operation of the system 500 are also stored in the RAM 503.
  • the CPU 501, the ROM 502 and the RAM 503 are connected to each other through a bus 504.
  • An input/output (I/O) interface 505 is also connected to the bus 504.
  • the following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and so on; an output portion 507 including a cathode ray tube (CRT), a liquid crystal display (LCD) and so on, and a speaker and so on; a storage portion 508 including a hard disk and so on; and a communication portion 509 including a network interface card such as a LAN card, a modem, and so on.
  • the communication portion 509 performs communication processing via a network such as the Internet.
  • a drive 510 is also connected to the I/O interface 505 according to requirements.
  • a removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and so on, is installed on the drive 510 according to requirements so that a computer program read therefrom is installed in the storage portion 508 according to requirements.
  • the process described above with reference to the flowchart may be implemented as a computer software program.
  • the embodiment of the disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, the computer program containing a program code for performing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication portion 509, and/or installed from the removable medium 511.
  • CPU central processing unit
  • the computer-readable medium shown in the disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two media.
  • the computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof.
  • the computer-readable storage medium may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.
  • the computer-readable storage medium may be any tangible medium containing or storing a program, and the program may be used by or in combination with an instruction execution system, apparatus or device.
  • the computer-readable signal medium may include a data signal propagated in a baseband or propagated as a part of a carrier wave, in which a computer-readable program code is carried. Such propagated data signal may adopt many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof.
  • the computer-readable signal medium may be also any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with the instruction execution system, apparatus or device.
  • the program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF, and so on, or any suitable combination thereof.
  • each block in the flowcharts or block diagrams may represent a module, a program segment, or a part of a code, which contains one or more executable instructions for implementing specified logic functions.
  • the functions labeled in the blocks may also occur in an order different from that labeled in the figures. For example, two successively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in a reverse order, which depends on the functions involved.
  • each block in the block diagrams or flowcharts, and combinations of the blocks in the block diagrams or flowcharts may be implemented with a dedicated hardware-based system that performs specified functions or operations, or may be implemented with a combination of dedicated hardware and computer instructions.
  • the involved modules described in the embodiment of the disclosure may be implemented by software or hardware.
  • the described modules may be also provided in a processor.
  • a description may be made as follows: a processor comprising: a judging module for judging whether remaining battery power of a first logistics device satisfies a preset charging condition; a determining module for determining a target second logistics device for charging the first logistics device when the remaining battery power of the first logistics device satisfies the preset charging condition; and a charging module for controlling the target second logistics device to move to meet the first logistics device so as to charge the first logistics device.
  • the names of these modules do not form limitations of the modules themselves in some cases.
  • the judging module may be also described as a "module for controlling the target second logistics device to move to meet the first logistics device so as to charge the first logistics device".
  • the disclosure also provides a computer-readable medium, which may be included in the devices described in the above embodiment, or may exist independently without being assembled into the devices.
  • the above computer-readable medium carries one or more programs, and the one or more programs, when executed by one of the devices, cause the device to include: judging whether remaining battery power of a first logistics device satisfies a preset charging condition; if so, determining a target second logistics device for charging the first logistics device; and controlling the target second logistics device to move to meet the first logistics device so as to charge the first logistics device.
  • collaborative charging between respective logistics devices can avoid problems such as low charging efficiency and energy waste caused by necessity of returning to a charging station for charging.

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